The companion robot force-controlled servo adopts an innovative optimized gear alignment structure and an overload clutch with anti-tooth-slip protection. It features a high-torque M10 iron-core motor, reducing the overall height by 9mm compared to conventional 9g servos while delivering a 30% increase in output torque. Utilizing TTL serial bus communication, it reduces wiring by 40% and supports independent ID control. Additionally, it integrates a high-precision potentiometer, ensuring stable locking and smooth motion path planning, enabling optimal motion control for the robot. 

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